CN108594281A - Excavating equipment level based on carrier phase difference technology determines appearance positioning auxiliary method - Google Patents
Excavating equipment level based on carrier phase difference technology determines appearance positioning auxiliary method Download PDFInfo
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- CN108594281A CN108594281A CN201810341484.4A CN201810341484A CN108594281A CN 108594281 A CN108594281 A CN 108594281A CN 201810341484 A CN201810341484 A CN 201810341484A CN 108594281 A CN108594281 A CN 108594281A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- General Physics & Mathematics (AREA)
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Abstract
Excavating equipment level based on carrier phase difference technology determines appearance positioning auxiliary method, including the space GPS positioning module of construction area and mining head, mining head determine appearance Construction control module and excavated space location assistance indicating module；It is positioned plus carrier phase differential system using GPS, real-time coordinates including mining head position and determine appearance construction and keep, actual construction area is corresponded in the horizontal surface grids shown on the display module of subscriber's main station and is correspondingly arranged work grid, and mining head current grid position residing in horizontal surface grids is shown in display module according to the real-time coordinates of mining head.The defects of present method solves existing engineering excavation efficiency is low, and excavation regions error rate is high greatly avoids various excavation accidents from occurring, and also brings convenient construction for many inconvenient observations and the excavation construction area measured；It takes less and flexible adjustment constructing operation in time can be required according to site operation；It builds and spends cost relatively low.
Description
Technical field
The present invention relates to attitude orientation field, it is related to a kind of excavating equipment level based on carrier phase difference technology and determines appearance
Positioning auxiliary method.
Background technology
In recent years, the service based on positioning (LBS, Location Based Services) is widely regarded as information production
One important trend of industry development, currently, the acquisition of position mainly relies on GPS (Global Positioning in LBS
System, GPS) be main representative Global Satellite Navigation System (Global Navigation
Satellite System, GNSS), there is GNSS positioning accuracy height, the whole world can be used within 24 hours, and be not easy by factors such as weather
The advantage but satellite navigation system itself of influence have the congenital deficiency that signal is weak, is easily blocked, this makes the application of GNSS
Scene is significantly limited, such as in the street in urban district and the inferior region of overpass, positioning performance by critical constraints, indoors,
Inferior region almost will thoroughly fail.Therefore, the positioning hand based on modes such as cellular mobile communication networks, wlan network, visions
Duan Yingyong and give birth to, these auxiliary positioning means usually as satellite navigation a kind of auxiliary positioning mode, in continuity, precision etc.
Aspect enhances satellite navigation.
Assistant positioning system is a kind of technology for combining network base station information and GPS information and being positioned to terminal, with
Common GPS positioning is compared, and has the advantages that locating speed is fast, with high accuracy.In open spaces such as outdoors, aided positioning system precision
It is a kind of higher location technology of current positioning accuracy up to 10 meters or so under normal GPS working environments.Auxiliary positioning
Means enhance satellite navigation in continuity, precision etc. usually as a kind of auxiliary positioning mode of satellite navigation.
Currently, locating assist system has been obtained for being more and more widely used.But excavating equipment positioning auxiliary this
Block receives certain limitation.Existing excavating equipment includes：Power plant, equipment, swing mechanism etc., are excavated with scraper bowl
Higher or lower than holding the material of machine side, and it is packed into haulage vehicle or unloads to the earthmoving machinery of rickyard.But most mining is set
For appearance overall construction design old stuff, the individual that engineering excavation depends on driver feels to excavate, this method
Heavy workload, period are long.The region that excavating equipment can not excavate needs, which is realized, accurately excavates, and excavation precision is low, takes big
And adjustment technology requirement is relatively difficult, spends expensive.
Invention content
Technical problem to be solved by the present invention lies in provide a kind of excavating equipment water based on carrier phase difference technology
Calm down appearance positioning auxiliary method, excavation regions error rate high the defects of low to solve existing engineering excavation efficiency, greatly avoids each
Kind excavation accident occurs, and also the excavation construction areas for many inconvenient observations and measurement bring convenient construction.
The present invention is achieved by the following technical solutions：
Excavating equipment level based on carrier phase difference technology determines appearance positioning auxiliary method, it is characterised in that：Including applying
The space GPS positioning module of work area domain and mining head, mining head determine appearance Construction control module and excavated space location assistance refers to
Show module；
The space GPS positioning module of the construction area and mining head：It is carried out plus carrier phase differential system using GPS
The receiver of positioning, including base station and rover station, base station executes two operations：1) reception GPS satellite signal, 2) acquisition
Carrier phase observed quantity be sent to rover station；The receiver of rover station executes three operations：1) reception GPS satellite signal, 2)
Base station observed quantity transmitted by reception base station, 3) comparison processing is carried out to satellite-signal and base station observed quantity, to right
The observed quantity of oneself is modified and sends subscriber's main station to；
The mining head determines appearance Construction control module：Real-time coordinates including mining head position and determine appearance construction and keep,
Wherein, the real-time coordinates positioning of mining head is to establish three-dimensional system of coordinate by origin O of base station, and the joint coordinates of mining head are become
It changes and is combined with space GPS positioning, subscriber's main station is according to the coordinate points excavated residing for head relative to any two different direction
Point distance change, calculates the real-time coordinates information of mining head, to position the real-time coordinates of mining head；Determine appearance construction keep be
After joint coordinates operation, the principal arm of subscriber's main station control excavating equipment, secondary arm make corresponding actions to maintain mining head to protect always
Hold fixed operating attitude, vertical construction；
The excavated space location assistance indicating module：In the horizontal surface grids shown on the display module of subscriber's main station
Corresponding actual construction area is correspondingly arranged work grid, including setting construction flat shape and guarded by location point；Subscriber's main station
Mining head current grid position residing in horizontal surface grids is shown in display module according to the real-time coordinates of mining head；It applies
Worker person assists carrying out detail design and layout by horizontal surface grids, and to excavating according to the current grid position of mining head
Head carries out construction instruction, geofence instruction.
Further, the display module is lattice lcd screen, and display content includes in character, Chinese character, figure and curve
It is one or more, display content includes marginal position in horizontal surface grids of the shape of construction area, construction area, excavates
The head operating path in horizontal surface grids, the current grid position residing for mining head and in the work grid excavated
Excavating depth and excavation amount.The location information of construction area and mining head is shown by the horizontal surface grids auxiliary on liquid crystal display,
Construction personnel can be made more directly and accurately to understand working condition and be forward in one's work, and instruct to excavate by subscriber's main station in time
Work, to improve excavation precision, while decreasing the workload of auxiliary construction personnel on construction area place.In addition, liquid
The information of crystalline substance screen display is more, can show character, Chinese character, can also show figure and curve, and easy and microprocessor interface.
Mechanical equipment is controlled in automatic assembly line, and liquid crystal display shows equipment and equipment for showing running parameter with figure
With the course of work of production line.If first drawing the figure of equipment with 320 × 240 graph papers, then one is constituted using every 8 points
A byte, it is corresponding with screen display point with one-to-one mode, and storage unit is in respect of 320 × 240=shared by a screen figure
9600 bytes, if there is several figures, required memory capacity is multiplied.
Further, the mining head is equipped with the attitude transducer for monitoring real-time attitude information, attitude transducer
Export the zero shift 3 d pose data indicated with quaternary number, Eulerian angles in real time, subscriber's main station is according to the monitoring of attitude transducer
The principal arm of information control excavating equipment, secondary arm make corresponding actions with the operating attitude for maintaining mining head to be always kept in a fixed state, and hang down
Straight construction.High-performance attitude transducer based on MEMS technology can start in a dynamic environment, real low-power consumption, actual measurement
17mA；High-speed data output rating, highest 500Hz, full angle non-blind area 3 d pose bearing data are exported to subscriber's main station.
Further, the subscriber's main station is excavated according to the monitoring information of attitude transducer by display module real-time display
The spatial attitude of head, construction personnel carry out the auxiliary such as construction guidance, geofence according to the mining head spatial attitude of display and indicate.
Image intuitive display is illustrated, easy to operation, is assisted on side without other Field Force.
Further, the real-time coordinates information of the mining head includes the real-time coordinates point and Plane Angle of mining head；Institute
It refers to the angle of line and coordinate system X between the real-time coordinates point of mining head and origin O to state Plane Angle.By joint
Coordinate transform is combined with GPS, and by determining appearance formula, the posture information of mining head can be accurately positioned.To use environment requirement
It is not high, be suitable for in-site measurement and on-line measurement, be widely used, measure function it is strong, high certainty of measurement.
Further, rover station carries out space GPS positioning to actual construction area and sends subscriber's main station to, uses householder
The space GPS positioning of actual construction area is correspondingly arranged in horizontal surface grids by machine, is formed work grid and is shown in aobvious
Show in module, to obtain the construction flat shape and guarded by location point in horizontal surface grids.It is applied to actual by rover station
Work area domain is accurately positioned, and includes on the horizontal surface grids of auxiliary by actual construction area, simple and clear display is applied
The form and dimension in work area domain also allows for assisting mining head carrying out detail design and layout by horizontal surface grids, and to digging
Pick head carries out construction instruction, geofence instruction.
Further, the work grid is set in the horizontal surface grids of display module by picture pen by construction personnel
Determine and corresponds to actual construction area.1) construction personnel can set construction with picture pen on the horizontal grid face of display module
Plane forms the work grid of corresponding actual construction area；2) staff can hold mobile GPS terminal i.e. rover station and set
Determine guarded by location point；3) setting of irregular construction area can be supported.
Further, the work grid includes boundary mesh where actual construction area boundary line and by boundary net
Lattice are enclosed in inner mesh that is internal, all being covered by actual construction area, and guarded by location point is inner mesh.
Accumulator is installed in the drive circuit of excavating equipment, with the increase of rotating speed, the flow needed for rotary motor also increases.Setting
Coherent to be excavated after guarded by location point, due to the effect of resistance and hydraulic braking, turntable speed slowly reduces, to
Reach the speed being consistent with the flow of hydraulic pump to be excavated, keep transmission process stress more uniform, the abrasion of sprocket wheel is mitigated,
Protection is excavated high efficiency and is orderly carried out, and can extend excavator service life.
Further, the observed quantity of the rover station is exported by mobile base station by serial ports, and the data radio station through client passes
Give subscriber's main station.
The beneficial effects of the present invention are：
1, it solves the defects of existing excavating equipment digging efficiency is low, and excavation regions error rate is high, greatly avoids various diggings
Pick accident occurs, and also brings convenient construction for many inconvenient observations and the excavation construction area measured；
2, it takes less and flexible adjustment constructing operation in time can be required according to site operation；
3, building spends cost relatively low.
Description of the drawings
Fig. 1 is the flow diagram in a kind of embodiment of this method.
Fig. 2 is a kind of principle schematic of real-time coordinates positioning and orientation embodiment of mining head.
Fig. 3 is the position view of actual construction area and mining head real-time coordinates in the horizontal surface grids of display module
Fig. 4 is the determination of the arrangement and reference axis of the screen display dot address of coordinate auxiliary display.
Fig. 5 is the display byte bit location and bit location coordinate value of coordinate auxiliary display in horizontal surface grids.
Fig. 6 is a kind of excavating equipment arrangement schematic diagram of this method
In Fig. 2,6：1 is principal arm, and 2 be secondary arm, and 3 be attitude transducer, and 4 be communication cable, and 5 be driver's cabin, and 6 be to use householder
Machine, 7 be rotation car body, and 8 be chassis of dredging machine, and 9 be mining head.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
The excavating equipment level based on carrier phase difference technology provided the present embodiment below with reference to attached drawing is fixed
Appearance positioning auxiliary method is described in detail.
Excavating equipment shown in embodiment as shown in FIG. 6, including：Chassis of dredging machine 8, rotation car body 7, driver's cabin 5, principal arm
1, secondary arm 2 and communication cable 4, sensor 3, mining head 9 etc.；The core of this auxiliary system is that GPS adds carrier phase difference
System and posture sensing device, the height of positioning accuracy depend on the performance of GPS receiver.To take into account system reliably working, have
There is friendly man-machine interface, shows the spatial attitude of current mining head in driver's cabin using industrial control all-in-one machine display screen auxiliary, refer to
Lead excacation.
Station-keeping mode adds rover station using base station, is positioned plus carrier phase differential system (RTK) using GPS,
The receiver of base station executes two operations：1) GPS satellite signal is received, 2) the carrier phase observed quantity of acquisition is sent to stream
Dynamic station；The receiver of rover station executes three operations：1) receive GPS satellite signal, 2) receive base station transmitted by base station
Observed quantity, 3) comparison processing is carried out to satellite-signal and base station observed quantity, to which the observed quantity of oneself is modified and be passed
Give subscriber's main station.
Base station needs the place for being erected at an observation condition relatively good (the overhead visual field, surrounding is noiseless) then to flow
Stand can motion positions, precision is in 0.05m/12H.Movement station data output frequencies 5Hz.The data of movement station are defeated by serial ports
Go out, the data radio station through user sends subscriber's main station to.
Operation journey schematic diagram as shown in Figure 1, the present embodiment are applied to excavate a construction area in field, such as scheme
Mining head real-time coordinates location model corresponding to 2, in order to which measurement of coordinates is convenient, principal arm 1 and secondary arm 2 use measuring arm mould
Type.
S11, S12, upper electrical switch are opened, and check that communications status lamp, flicker then indicate that connection is normal.GPS engineering excavation heads
Normal signal, real-time communication conditions instruction are received.
S13, space GPS carry out motion test, trigger action feeler switch, and principal arm 1, secondary arm 2 do respective action, posture sensing
Device instruction is normal, then it represents that circuit is normal；
In the present embodiment, the S13 includes：
(1) S131, GPS carry out motion test.
In the present embodiment, mobile station mode, base station is added to connect using base station this construction area station-keeping mode
Receipts machine receives satellite-signal, oneself is then sent to rover station to the observed quantity of this construction area；Then rover station connects
It receives satellite-signal, receive the base station observed quantity transmitted by base station, finally satellite-signal and base station observed quantity are carried out pair
Than processing, to be modified to the observed quantity of oneself.Then rover station can motion positions, to actual construction area into
Row space GPS positioning, the data radio station through client send user rs host to.
(2) S132, trigger action feeler switch, principal arm 1, secondary arm 2 do respective action.
In the present embodiment, joint coordinates operation is first carried out, then principal arm 1, secondary arm 2 make corresponding actions.For joint
Joint coordinates are converted and are combined with GPS by coordinate computation, the coordinate transform taken, and derive that one is completely determined appearance formula, energy
The posture information of mining head is enough accurately positioned, to facilitate the construction personnel of driver's cabin to control primary and secondary shoulder joint by subscriber's main station
Accurate flexible positioning is excavated.As shown in Figure 2：
In GPS：A is ellipsoidal element.If base station is azimuthal point in point O, any point A.If A=(XA, YA, ZA), A at this time
Geodetic coordinates be (BA, LA, hA), i.e.,：
By above formula (1), (2), (3) can solve the coordinate (X of any point AA, YA, ZA)。
If base station is in point O, any point B is azimuthal point, if B=(XB, YB, ZB), the geodetic coordinates of A is (B at this timeB, LB,
hB), it can similarly obtain：
I.e. by above formula (4), (5), (6) can solve the coordinate (X of any point BB, YB, ZB)。
Such as Fig. 2, if the distance between any azimuthal point A and M points are DAM, the distance between any azimuthal point B and M points are.
DBMIt is M=(X to excavate the coordinate residing for head0, Y0, Z0)
By the range formula of point-to-point transmission：
(X0-XA)(YB-YA)=(Y0-YA)(XB-XA)(9)
It can obtain：
In conjunction with above formula (10), (11) (12) can obtain excavating the coordinate points (X residing for head0, Y0, Z0)。
According to fig. 2, you can obtain excavator head plane angleI.e.Wherein：Plane Angle is
Refer to angle of the line and coordinate system X between the real-time coordinates point and origin O of mining head between.In the present embodiment, it uses
Joint coordinates transformation is combined with GPS, derives above-mentioned positioning posture formula, the position and attitude information of mining head is accurately positioned.
S14, S15, S16, which are pressed, starts setting up key, embodiment as shown in Figure 3, starts to carry out grid setting work to construction area
Make：1) construction personnel can set construction plane with picture pen on the horizontal grid face of liquid crystal display (i.e. display module), be formed
The work grid of corresponding actual construction area；2) staff can hold mobile GPS terminal (i.e. rover station) setting position
Protection point；3) setting of irregular construction area can be supported.
Setting work grid terminates, and point proceeds by auxiliary instruction work；The grid residing for current mining head is indicated in real time
Position can complete grid Computer Aided Design, layout, the functions such as construction instruction, geofence by user interface.
In the present embodiment, the auxiliary display of tablet coordinate is carried out with dot matrix lcd module.Dot-Matric LCD Display
The storage address of module display point is arranged not in accordance with the mode of ordinary coor axis, needs to establish right angle on the screen first
Coordinate system.(h indicates 16 systems) shares F0H (240) rows, 28H × 08H by taking 320 × 240 dot matrix lcd modules as an example
(320) it arranges.Screen arbitrarily shows byte with Adhij to indicate, address Adhij and 16 system coordinate of screen right angle (Xhi,
Yhj the relationship between) is as shown in figure 4, set hi start of line address as Adhsi, Adhsi and Yh sit the pass between target value Yhi
System：Adhsi=Yhi × 8H.Hj row byte marks are Adhrj, then byte address Adhij=Adhsi+ is arbitrarily shown on screen
Adhrj。
Since each display byte is made of 8 display bit locations, 0 is arranged according to n=7,6 ...；The arrangement of coordinate value
Should be 1,2 ... 8, as shown in figure 5, then k=8-n；It can be derived according to Fig. 4 and Fig. 5：
Yhi=hi=roundings (Adhij/28H) (13)
Adhrj=Adhij-hi × 28H (14)
Xhj=Adhrj × 08H-1+8-n=Adhrj+7-n=Adhrj × 08H+k-1 (15)
- 1 is Yh axis, i.e. Xh=0 to be shown because of screen first row, therefore need -1 just can correctly be sat in formula (15)
Scale value.Will above the formula of (13)~(15) 3 obtained Xhj, Yhi is converted to decimal number, obtains decimal system coordinate (X, Y).
If known (X, Y) point, finds out the screen display address of the point, convert X, Y to Xh, Yh first, then press following
Formula calculates：
Adhsi=Yhi × 28H (16)
Adhrj=roundings (Xhj/08H) (17)
K=Xhi-Adhrj08H+1:N=8-k (18)
Adhij.n=(Adhsi+Adhrj) .n (19)
It is provided in this embodiment to a piece of construction area (shade in figure on the display interface of display module as shown in Figure 3
Part) it is excavated, located space identification is effectively positioned as the horizontal surface grids that 5*5m is unit by subscriber's main station, further according to
The observed quantity of rover station in horizontal surface grids by actual construction area be correspondingly arranged for work grid, and work grid in
27 guarded by location points are made a call to, i.e., 27 inside that are internal, all being covered by actual construction area are enclosed in by boundary mesh
Grid is better than 0.1m to the spatial positioning accuracy of mining head；Mining head construction size 1.3*0.8m, vertical construction；Construction personnel
Grid Computer Aided Design, layout are completed by subscriber's main station；Then, subscriber's main station according to the observed quantity of rover station by the reality of mining head
When coordinate the current grid position residing for it is shown in horizontal surface grids, construct again to excavating equipment convenient for construction personnel
The functions such as instruction, geofence；In addition, subscriber's main station controls the principal arm of excavating equipment also according to the monitoring information of attitude transducer
1, the operating attitude that secondary arm 2 makes corresponding actions to maintain mining head to be always kept in a fixed state, vertical construction, so as in short-term
It is interior it is efficient this construction area is excavated, the effective positioning instruction for completing construction equipment mining head spatial attitude
Function.
Claims (10)
1. the excavating equipment level based on carrier phase difference technology determines appearance positioning auxiliary method, it is characterised in that：Including construction
The space GPS positioning module of region and mining head, mining head determine appearance Construction control module and excavated space location assistance instruction
Module；
The space GPS positioning module of the construction area and mining head：Determined plus carrier phase differential system using GPS
The receiver of position, including base station and rover station, base station executes two operations：1) reception GPS satellite signal, 2) acquisition
Carrier phase observed quantity is sent to rover station；The receiver of rover station executes three operations：1) reception GPS satellite signal, 2) it connects
Base station observed quantity transmitted by receipts base station, 3) comparison processing is carried out to satellite-signal and base station observed quantity, to certainly
Oneself observed quantity is modified and sends subscriber's main station to；
The mining head determines appearance Construction control module：Real-time coordinates including mining head position and determine appearance construction and keep, wherein
The real-time coordinates positioning of mining head is to establish three-dimensional system of coordinate by origin O of base station, by the transformation of the joint coordinates of mining head and
Space GPS positioning is combined, subscriber's main station according to excavate head residing for coordinate points relative to any two different direction point away from
From variation, the real-time coordinates information of mining head is calculated, to position the real-time coordinates of mining head；Determine appearance construction to keep being in joint
After coordinate computation, the principal arm of subscriber's main station control excavating equipment, secondary arm make corresponding actions to maintain mining head to remain solid
Fixed operating attitude, vertical construction；
The excavated space location assistance indicating module：It is corresponding in the horizontal surface grids shown on the display module of subscriber's main station
Actual construction area is correspondingly arranged work grid, including setting construction flat shape and guarded by location point；Subscriber's main station according to
The real-time coordinates of mining head show mining head current grid position residing in horizontal surface grids in display module；Constructor
Member assists carrying out detail design and layout according to the current grid position of mining head, by horizontal surface grids, and to mining head into
Row construction instruction, geofence instruction.
2. the excavating equipment level according to claim 1 based on carrier phase difference technology determines appearance positioning auxiliary method,
It is characterized in that：The display module is lattice lcd screen, and display content includes one kind in character, Chinese character, figure and curve
Or it is a variety of, display content includes marginal position in horizontal surface grids of the shape of construction area, construction area, mining head in water
The current grid position residing for operating path, mining head in plane grid and the excavation in the work grid excavated are deep
Degree and excavation amount.
3. the excavating equipment level according to claim 1 based on carrier phase difference technology determines appearance positioning auxiliary method,
It is characterized in that：The mining head is equipped with the attitude transducer for monitoring real-time attitude information, and attitude transducer is defeated in real time
Go out the zero shift 3 d pose data indicated with quaternary number, Eulerian angles, subscriber's main station is according to the monitoring information of attitude transducer
The principal arm of excavating equipment processed, secondary arm make corresponding actions with the operating attitude for maintaining mining head to be always kept in a fixed state, vertical construction.
4. the excavating equipment level according to claim 3 based on carrier phase difference technology determines appearance positioning auxiliary method,
It is characterized in that：The sky that the subscriber's main station passes through display module real-time display mining head according to the monitoring information of attitude transducer
Between posture, construction personnel carries out construction guidance according to the mining head spatial attitude of display.
5. the excavating equipment level according to claim 1 based on carrier phase difference technology determines appearance positioning auxiliary method,
It is characterized in that：The real-time coordinates information of the mining head includes the real-time coordinates point and Plane Angle of mining head；The plane
Angle refers to the angle of line and coordinate system X between the real-time coordinates point of mining head and origin O.
6. the excavating equipment level according to claim 1 based on carrier phase difference technology determines appearance positioning auxiliary method,
It is characterized in that：The rover station carries out space GPS positioning to actual construction area and sends subscriber's main station, subscriber's main station to
The space GPS positioning of actual construction area is correspondingly arranged in horizontal surface grids, work grid is formed and is shown in display
In module, to obtain the construction flat shape and guarded by location point in horizontal surface grids.
7. the excavating equipment level according to claim 1 based on carrier phase difference technology determines appearance positioning auxiliary method,
It is characterized in that：The work grid is to be set in the horizontal surface grids of display module by picture pen by construction personnel and right
Answer actual construction area.
8. the excavating equipment level according to claim 1 based on carrier phase difference technology determines appearance positioning auxiliary method,
It is characterized in that：The work grid includes boundary mesh where actual construction area boundary line and is surrounded by boundary mesh
In inner mesh that is internal, all being covered by actual construction area, guarded by location point is inner mesh.
9. the excavating equipment level according to claim 1 based on carrier phase difference technology determines appearance positioning auxiliary method,
It is characterized in that：The observed quantity data of the rover station (2) are exported by mobile base station by serial ports, and the data radio station through client passes
Give subscriber's main station.
10. the excavating equipment level according to claim 1 based on carrier phase difference technology determines appearance positioning auxiliary method,
It is characterized in that：The rover station is hand-held mobile GPS terminal.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113538563A (en) * | 2020-04-14 | 2021-10-22 | 北京城建勘测设计研究院有限责任公司 | Prompting method and device for internal pipeline of engineering datum plane during excavation construction |
| CN113950661A (en) * | 2019-04-03 | 2022-01-18 | 利勃海尔工厂比伯拉赫股份有限公司 | Method and device for controlling a material handling and/or construction machine |
| US11994599B2 (en) | 2020-07-23 | 2024-05-28 | Coretronic Corporation | Positioning system and positioning method |
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| US11994599B2 (en) | 2020-07-23 | 2024-05-28 | Coretronic Corporation | Positioning system and positioning method |
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Application publication date: 20180928 |